Gait Trajectory Execution for an Existing Exoskeleton
- Developed a closed-loop control system for TimeTooth Technologies' gait rehabilitation exoskeleton to ensure accurate trajectory tracking despite patient weight shifting
- Implemented inverse kinematics to design a zero-scrubbing gait trajectory, reducing foot plate scrubbing by 30.4%, ensuring full heel-to-toe motion for smoother gait cycles.
- Developed forward and inverse kinematics models to assess and correct scrubbing points during the gait, achieving a 13.6% reduction in scrubbing with stationary hip joints.
- Designed and tested increased step height and vertical hip movement strategies, reducing scrubbing time by 21% with a modified sinusoidal hip motion.